A novel kinematics analysis for a 5-DOF manipulator based on KUKA youBot

Inverse kinematics solutions can provide useful data for trajectory planning, motion control, etc. In this paper, a hybrid algebraic and analytical geometric solution with reservation method is proposed to solve the inverse kinematics, and the existence of all the possible solutions are specified. Therefore, without the selection and matching of multiple solutions for each joint, we can directly obtain the uniqueness of multiple solutions, according to the desired configuration in industrial application. Hence, for the method herein, it is not necessary to calculate all the possible solutions, therefore, compared with other methods, the computational efficiency is greatly enhanced. Finally, the proposed method is verified through simulation and experiment based on a KUKA youBot manipulator.